Optical device for the automatic loading and unloading of containers onto vehicles

ABSTRACT

The invention relates to an automatic method for increasing the throughput of a container reloading point or a container storage space and for reducing the loading and unloading time for a container transport vehicle. According to said method, after the identification of a container transport vehicle, the loading platform of the transport vehicle that has been parked in the parking area of the container storage space is measured. The position co-ordinates of the loading platform are determined by a data processing system. The container to be loaded is then automatically positioned by means of a crane, using the position co-ordinates of the loading platform. To align the container exactly in relation to the loading platform, the latter is measured again and any deviation in relation to the position of the container thus obtained is used for said exact alignment. The container is deposited on the platform automatically. The unloading of a container transport vehicle involves practically identical steps.

BACKGROUND OF THE INVENTION

The invention pertains to a method for reloading in a container storagespace for standard containers, with a stacker crane for the containersthat services the container storage space and can be controlled by a DP(data processing) system for logistical management, which can travelbetween the storage location of each container and a loading platform ofa container transport vehicle that can drive into the region of thecontainer storage space, wherein the stacker crane has a means ofpicking up the container from the loading platform and/or setting itdown onto the platform, such as can be oriented with respect to thelatter.

Container storage yards are required for short-term interim storage ofstandard containers, in order to enable the transfer of containers fromone means of transport to another. Means of container transport aregenerally large container ships, railroad cars, trucks, trailers, oralso AGVs (automated guided vehicles). At a container harbor, containerships are unloaded and the unloaded containers are temporarily kept inthe container yard until further transport is possible. Vice versa, thecontainers are assembled and kept temporarily in a container yard of aharbor in order to be loaded subsequently onto a container ship. Theland transport occurs by truck, trailer, railroad car or AGV, and in thepresent application the land transport is furnished by special trucks.

The large number of containers handled at a container yard requires fastand accurate loading and unloading of the means of transportation. Astacker crane transports the container from the container yard to thetransport vehicle and vice versa. The stacker crane can be an automaticcontainer stacker crane (ACS), or also a gantry crane or a one-leggedgantry crane. Thus far, the placement of the container onto a means oftransport by the stacker crane has been manually controlled. The stackercrane consists of a bridge and a trolley which can travel on it, whilethe bridge can travel on rails. The placing of the container suspendedfrom the crane onto a transport vehicle is manually controlled by anoperator. For the loading, an operator present in the parking positiondrives the container by means of the stacker crane into the vicinity ofthe transport vehicle, and then by slow “approach” he positions thecontainer exactly on the transport vehicle. The approach involvesrepeated left/right and forward/backward moving of the ACS, as well asthe lowering of the container, controlled and monitored by the operatoron site. Likewise, when unloading the transport vehicle, the stackercrane is slowly brought up to the container manually by an operator, sothat the crane can pick it up.

The large number of containers handled within a container yardnecessitates a smooth, error-free, speedy, economical and long-lastingwork process. In addition, it is desirable to increase the throughput ofcontainers, i.e., the number of containers handled per unit of time.This will reduce the parking time for containers inside the containeryard, the layover time for container ships, and the stopping time forthe land transport vehicles. At the same time, this implies a shorteningof the length of transport for the containers.

From European patent application EP 1 043 262 A1 there is already knowna method for handling of standard containers at a container yard. Thiscontainer yard has a controllable stacker crane for the containers,which can travel between a storage position for the container and atransport vehicle with a loading platform for the container. The stackercrane is provided with a means of picking up the load in order to setthe container down on the loading platform or pick it up from theplatform, such as can be oriented with respect to the container and theloading platform. The stacker crane also has a horizontally moveabletrolley with a lifting mechanism, from which is suspended the means ofpicking up the container. On this load suspension device is arranged asensor in the form of a video camera system, so as to automaticallyplace the load suspension device on the container or pick up thecontainer from the loading platform. Furthermore, a second sensor alsoin the form of a video camera system is fastened to the load suspensiondevice, in order to adjust the stacker crane. The reference point forthis is a wall with optical elements, which is arranged in the region ofthe parking place of the transport vehicle.

Furthermore, there is also already known from the international patentapplication WO 01/81233 A1 a system for orienting a load suspensiondevice for containers. The load suspension device, designed as aspreader, has a CCD camera in the region of its twist locks forfastening the spreader to the corner points of a container. Thanks tothe video signal obtained from the camera, an operator can thus set thisspreader down in true position on a container in relation to its supportpoints. This system can also work automatically in conjunction with a DPsystem.

SUMMARY OF THE INVENTION

The underlying problem of the invention is to achieve a high throughputof containers within a container yard, to lower the costs and to reducethe down time in case of defects, while at the same time boosting theeconomy of the container handling yard.

This problem is solved according to the invention by the indicatedmethod for loading of transport vehicles with standard containers perclaim 1, by the indicated method for unloading of transport vehicleswith standard containers per claim 2, and by the indicated methods foradjusting the position of a stacker crane according to claims 17 and 19.

The illustrative embodiments provide quick and flawless handling of theloading and unloading process of transport vehicles, made possible byautomation. In the present application, the constantly recurringidentical loading and unloading sequences are broken down into worksteps and each of them is automated. The sequence of individualautomated work steps with no interruption in time, such as require ashorter time to accomplish than the manual steps, and the mistake-freeprocessing achieve a beneficial shortening of the time of the loadingand unloading process and thus also boost the throughput of thecontainers handled.

The loading of a transport vehicle with a container occurs by thestepwise working of steps a) through f) of claim 1. Carrying out thework steps results in a shortening of the loading time of transportvehicles for standard containers, resulting in boosted throughput of thecontainer handling yard. The resulting profitable time savings of theloading process comes from the individual savings accomplished byautomating the work steps. At the same time, the number of mistakesituations is reduced, which likewise has profitable impact on thethroughput.

The unloading of the transport vehicle loaded with a container isdescribed by the sequential working of steps a) through f) of claim 2.The carrying out of the work steps produces a shortening of theunloading time of transport vehicles for standard containers, leading toan increased throughput of the container handling yard. The resultingprofitable time savings of the unloading process consists of theindividual savings achieved by automating the work steps. At the sametime, the number of mistake situations is reduced, which likewise hasprofitable impact on the throughput.

It is advantageous that the transport vehicle and possibly the containerbeing unloaded are identified and the thus-generated data aretransmitted to the DP system of the logistical management. At the sametime, the DP system of the logistical management generates a loadingorder or unloading order for the stacker crane. This loading ordercontains the job for the stacker crane to pick up the container beingloaded in the container yard and put it down on the loading platform ofthe transport vehicle, so as to load the transport vehicle in this way.This unloading order contains the job for the stacker crane to pick upthe container being unloaded from the transport vehicle and store it inthe container yard. The time advantage created by having parallel worksteps contributes to shorten the duration of the loading process, asdoes the fewer mistakes when detecting and transmitting the vehicledata.

Furthermore, the illustrative embodiments, identification points definedby means of a calibrated camera system on the loading platform of thetransport vehicle or the container and their coordinates are transmittedto the DP system of the logistical management. From the identificationpoints, the DP system determines the coordinates of the means offastening of the transport vehicle or of the container being unloaded(the corresponding system of coordinates describes at least a spacereached by the fastener of the load suspension device of the stackercrane). This method enables a quick and error-free detection of theposition of the fastener for the container or that of the containeritself, contributing to reduce the loading time for a transport vehicle.

In the illustrative embodiments, the DP system of the logisticalmanagement compares the coordinates of the identification points withdata about the container being loaded, which is stored in the DP system,and determines the fastener being assigned to this container and theposition coordinates on the loading platform of the transport vehicle.The coordinates stored in the DP system as to the size of the containercan be compared in good time with the coordinates determined for thefastener of the transport vehicle. If the size of the loading platformof the transport vehicle is sufficient for the container being loaded,the fastener of the transport vehicle to be assigned will be determined.In the event that the loading platform of the transport vehicle is notlarge enough for the container being loaded, a premature termination ofthe loading process/loading order can occur, or the time-intensivepicking up of the container from the container yard by the stacker cranecan be prevented in good time, which represents a considerable timesavings.

After the successful detecting of the coordinates of the fastener, theloading process can begin at once for the transport vehicle located inthe parking position, For this, the stacker crane travels under computercontrol with the container being loaded above the loading platform ofthe transport vehicle, overlapping it exactly, and above the positioncoordinates. The immediate and exact positioning of the stacker craneabove the transport vehicle reduces the duration of the loading processthanks to elimination of the manual “approach”.

In the illustrative embodiments, the DP system of the logisticalmanagement determines the fastener and position coordinates of thecontainer from the identification points. This enables a quick anderror-free calculation of the position coordinates, for the immediatestarting of the unloading order for the transport vehicle.

For this, the stacker crane travels under computer control above thecontainer, overlapping it exactly, and above the position coordinates.The immediate and exact positioning of the load suspension device abovethe container being unloaded reduces the time of the unloading processby eliminating the manual “approach”.

The fastener of the loading platform or of the container may be detectedby means of a calibrated camera system mounted on the stacker crane, andthe load suspension device or the container is moved so that thefastener of the container or of the load suspension device standscongruently above the assigned fastener of the loading platform or ofthe container. This enables a rapid, error-free, and correct orientationof the container with respect to the loading platform or that of theload suspension device with respect to the container. In contrast withthe previous method, the time-intense “approach” of the container or theload suspension device by an operator present in the parking position iseliminated. It is advantageous that the visual monitoring can thus occurfrom a remote operator, who watches the picture of at least one camera.Likewise, the uninterrupted sequence of the individual process stepshelps reduce the loading time.

As a result of precise orientation of the container with respect to theloading platform, the container can be put down on the loading platformof the transport vehicle in such a way that the fastener of thecontainer mate with the corresponding fastener of the loading platformat the end of the lowering process. The disadvantageous “approach” ofthe load suspension device with the container, guided by an operatorpresent on site, is eliminated and thus produces a beneficialtimesavings. The container is deposited by the load suspension device onthe transport vehicle and released. The loading job of the stacker craneis finished.

As a result of fast and exact orienting of the fastener of the loadsuspension device with respect to the container, the load suspensiondevice can be brought up to the container in such a way that thefastener of the load suspension device mate with the fastener of thecontainer. The disadvantageous “approaching” of the load suspensiondevice to the container, guided by an operator, is eliminated and thusproduces an advantageous time savings. The container is removed from thetransport vehicle and can be unloaded by the load suspension device,which then stores it temporarily in the container yard. The unloadingjob of the stacker crane is thus finished.

In the illustrative embodiments, an operator does not have to be on sitebefore, during and after the loading or unloading process. Thus, anoperator is available for other activities.

In the illustrative embodiments, the transport vehicle and possibly thecontainer being unloaded are identified by means of a camera system. Byelimination of visual and manual identification, the resulting data aretransmitted faster and free of error to the DP system of the logisticalmanagement.

For detection of the coordinates of the identification points of theloading platform or of the container, an operator supported by auser-defined interface on a monitor screen of the DP system of thelogistical management may use a marking mechanism to select theidentification points of the loading platform or of the container on theuser-defined interface. The user-defined interface shows the image ofthe camera system. An operator who selects the identification points ofthe loading platform or of the container of the transport vehicle orcontainer represented on the user-defined interface with the markingmechanism, contributes to the error-free detection and quick calculationof the coordinates of the fastener of the loading platform of thetransport vehicle.

Another automation technique which reduces the loading time or unloadingtime can be accomplished in that the coordinates of the identificationpoints of the loading platform or of the container are automaticallydetected by a computer system and transmitted to the logisticalmanagement.

The process step described in claims 1 and 2 for determination of theposition coordinates can be implemented in at least two different ways.First, the coordinates of the loading platform or of the container ofthe transport vehicle can be detected in the loading and unloading zone.At this time, the transport vehicle is already identified and theassigned container is likewise known by virtue of the loading order.This allows the DP system of the logistical management to recognizeearly on whether the transport vehicle is suitable to accommodate thecontainer being loaded. If the fasteners of the loading platform of atransport vehicle are successfully assigned, the loading process willcontinue; otherwise, the loading process, if already started, will beinterrupted.

In the event that the detection of the coordinates of the loadingplatform of the transport vehicle occurs in the final loading andunloading zone, the position coordinates described by the verticalposition of the loading platform or the upper edge of the identificationpoints of the container and by the intersection of the diagonals of theidentification points of the loading platform, are the absolute targetposition of the container. The arrangement is thus extremely adroit andenables a quick and thus time-saving positioning of the automaticstacker crane with the container or without, above the loading platformbeing loaded or above the container being unloaded.

In the other embodiment of the invention of the process step describedin claim 1 for determining the position coordinates, the detection ofthe coordinates of the loading platform of the transport vehicle or ofthe container in this case occurs in the identification zone. Thisallows the DP system of the logistical management to recognize early onwhether the transport vehicle is suitable to accommodate the containerbeing loaded. Once the fasteners of the loading platform of thetransport vehicle are successfully assigned, the loading process willcontinue; otherwise, the loading process, if already started, will beinterrupted.

Since the detection of the coordinates of the loading platform of thetransport vehicle occurs in the identification zone, the coordinatesdetected for the loading platform refer to the transport vehicle. Thus,the vertical position of the loading platform and the intersection ofthe diagonals of the identification points of the loading platformdescribe the relative target position of the container.

The position coordinate of the container is described by the verticalposition of the upper edge of the identification points of the containerand by the intersection of the diagonals of the identification points ofthe container, which describes the relative target position of thecontainer. By selecting the upper edge of the identification points(fastener) of the container as an element of the position coordinate,one can also unload standard containers not having a cover, such asopen-top containers, tank containers and/or flat containers. Thus, thefavorable choice of the position coordinate enables an adroit and thustime-saving positioning of the automatic stacker crane above thecontainer being unloaded.

The coordinates of the loading platform or of the container that aredetected in the identification zone refer to the transport vehicle andconsequently describe the relative target position of the container orof the load suspension device. Advantageously, the position coordinateis described by the absolute target position of the container or theload suspension device, which is composed of the coordinates determinedby means of a camera for the transport vehicle located in the parkingposition and the relative target position of the container or of theload suspension device. The coordinates already detected in theidentification zone are linked to the position of the transport vehicleidentified in the parking position by the DP system of the logisticalmanagement. The result of this linkage is the position coordinate, whichis the absolute target position of the container or of the loadsuspension device. This enables an adroit and thus time-savingpositioning of the automatic stacker crane with the container above theloading platform being loaded or the container being unloaded, as isdescribed hereafter.

Regardless of where the detection of the coordinates occurs, a wrongposition of one or more fasteners will be evident on the user-definedinterface of the DP system. The operator recognizes the wrong positionsand consequently notifies the driver of the transport means. He willcorrect any wrong positions of the fasteners in good time.

Regardless of the way chosen to detect the coordinates, the advantageouschoice of the position coordinate will enable the load suspension deviceto move the container or the load suspension device into the range ofthe loading platform or of the container, so that the intersection ofthe diagonals of the fastener of the container or of the load suspensiondevice stands congruent and plumb above the intersection of thediagonals of the fastener of the loading platform or of the container.The container or the load suspension device hanging from the stackercrane is thus situated in the middle above the loading platform or thecontainer and must consequently be oriented in the possibly next workstep by a rotary movement of the container hanging from the loadsuspension device or of the load suspension device. For this, thestacker crane need not travel any further, i.e., the bridge of an ACSand the trolley moving on it have already reached their exact finalloading position. In the illustrative embodiments, the stepwise approachof the load suspension device, guided by an operator, is eliminated.This procedure enormously simplifies the positioning of the loadsuspension device or the stacker crane and thus contributes to anextremely large reduction in the required loading time or unloadingtime.

In the illustrative embodiments, simple watching of the loading processor unloading process by an operator is obtained by a second user-definedinterface with four quadrants, each of them representing a pair offasteners, while each pair consists of a fastener of the loadingplatform or container, projected by an image from the camera system, andthe associated fastener of the container or load suspension device,projected by a superimposing of a computer-calculated contour of thecontainer or the load suspension device and of the fastener onto theimage. Thus, the operator comfortably watches the loading process orunloading process, without having to be present at the parking position.

In the illustrative embodiments, any deviation between the position ofthe container being loaded or the load suspension device and theposition of the loading platform or the container being unloaded can bedetermined in the DP system of the logistical management for afine-tuned positioning, in that the second user-defined interface of thelogistical management has a marking mechanism with which the operatorselects at least one identification point of the loading platform or ofthe container. The thus-determined precise orientation of the loadingplatform or of the container is used to orient the container withrespect to the loading platform or the load suspension device. Adeviation of the orientations recognized by the DP system of thelogistical management results, during the next step of the worksequence, in a correcting of the position of the container or the loadsuspension device. The simple detecting of the position of the loadingplatform or container, the direct availability of the data in the DPsystem of the logistical management, and the excluding of errors fromthe data result in an exceptional time savings.

In the illustrative embodiments, any deviation in position of thecontainer being loaded or the load suspension device with respect to theposition of the loading platform or the container being unloaded isautomatically recognized by a computer system for fine positioning.

When a deviation exists in the position of the container being loaded orthe load suspension device with respect to the position of the loadingplatform or the container being unloaded, the container or the loadsuspension device is turned so that the fastener of the container or ofthe load suspension device stand congruently and plumb above thefastener of the loading platform or container. Such a fast and correctorienting of the container with respect to the loading platform or thatof the load suspension device with respect to the container occursautomatically, based on the computed deviation. A tilting of thetransport vehicle in its lengthwise and/or transverse direction, causedfor example by uneven ground, does not have harmful impact on theloading process. The stepwise approach of the load suspension devicewith or without the container relative to the loading platform or thecontainer may be eliminated, which produces an exceptional reduction inthe time required for the loading or unloading of a transport vehicle.

The swift setting down and releasing of the container from the loadsuspension device or the swift approach of the load suspension device topick up the container and the locking together of the fastener is guidedby an operator or automatically by a computer system. Since thecontainer or the load suspension device is precisely located above theloading platform or the container and is correctly oriented, and the DPsystem has determined the vertical position of the loading platform orthe container, an immediate and continuous motion for depositing thecontainer or the load suspension device can be carried out, and it canbe concluded sooner than the manual “approach”. The locking together ofthe fastener of the container and those in the loading platformcompletes the deposit of the container. After the load suspension deviceis no longer loaded with the container, which is indicated by thetriggering of pressure sensors, the container can be released from theload suspension device and fastened to the transport vehicle. Thelocking together of the fastener of the load suspension device and thosein the container completes the picking up of the container. Thecontainer is fastened to the load suspension device and the stackercrane places it in the container yard for temporary storage. Thus, theunloading job order is complete.

The continuous sequence of process steps enables a fast loading andunloading of a transport vehicle. The time saved in this way isavailable for other loading or unloading processes. Consequently, thethroughput of containers handled in a container yard can be increased,which represents an efficiency boosting and likewise a reduction in thetransport time of the transported freight.

Furthermore, an adjustment of a stacker crane may be possible at anytime and with little expense by using the method described in claim 16.It should be kept in mind that geometrical deviations in a cameraprovided for use on the stacker crane can be produced by structural parttolerances, manufacturing tolerances, irregularities in the lens and/oroptical errors, and can be circumvented by a calibration done prior touse of the camera. During operations, the image from a camera used onthe stacker crane may be continuously corrected by means of a correctionalgorithm obtained from the calibration. Thus, the correction algorithmspecific to the camera is applied to each image of a camera by the DPsystem of the logistical management. Consequently, each camera used hassubstantially identical optical properties if its correspondingcorrection algorithm is applied. In addition, the preliminarycalibration allows the DP system of the logistical management toremotely measure the familiar objects being viewed, in accordance withthe laws of optics.

By using this calibrated camera, a further adjustment of the position ofthe stacker crane can now be carried out. Per claim 16, the stackercrane first moves over a reference point situated at any given positionwithin the container yard, so that at least one camera of the camerasystem catches the reference point. The DP system of the logisticalmanagement compares the new position of the reference point, calculatedfrom the camera image, with its known position of the reference pointand, if any deviation is present, it determines an offset for thestacker crane. Under the assumption that the reference point in generaldoes not shift, a correction can be made in the position coordinate ofthe stacker crane by the DP system of the logistical management addingthe offset to the calculated position data of the stacker crane. Thismay be useful in the case of a length change in the running rails of theautomatic container stacker (ACS) crane, which is an expansion of lengthin summer and a contraction of the running rails in winter due to thetemperature. Since the DP system of the logistical management maydetermine the position in terms of an absolute length measurement of thedistance traveled by the stacker crane, the temperature-sensitivearrangements and positions that the stacker crane actually travels canbe displaced from the position calculated by the DP system of thelogistical management. Thus, it may be possible to correct an erroneouscalculation of the position of the stacker crane caused by these factorsof influence.

The stacker crane can be quickly adjusted as often as desired and at anygiven time.

Several reference points can be arranged within the container yard.After the stacker crane has placed itself above one of these referencepoints, the DP system of the logistical management can compare theposition of the reference point already known to it with the newposition calculated from a camera image, and calculate any offset forthe stacker crane associated with the reference point. In the event thatseveral reference points are located along the linear path of thestacker crane and one of the offsets of these reference pointsdetermined in a narrow time domain has a nonsystematic deviation, thisindicates ground shifting in the vicinity of the affected referencepoint, which is afterwards introduced into the calculations forpositioning of the stacker crane by the DP system of the logisticalmanagement as a correction. In this way, one can avoid any wronginterpretations of length expansions.

The container yard may have a super-reference point, with which eachcamera on the stacker crane can be adjusted relative to it. Replacing acamera mounted on the stacker crane due to a technical defect, etc.,requires the onetime adjustment of a newly installed camera on thestacker crane. By using the super-reference point, the DP system of thelogistical management can determine a correction vector and assign it toa new camera mounted on the stacker crane. The repair and adjustmenttime and thus the down time of the stacker crane are profitablyshortened. The super-reference point may be situated at one position inthe container yard that is independent of outside influences of theabove described kind. The stacker crane travels with the newly installedand already calibrated camera above the super-reference point so thatthe newly installed camera detects it. The DP system determines theposition of the super-reference point and compares the data thusobtained with the already stored data about the super-reference point.If there is any deviation in the data, a correction vector will beassigned to the newly installed camera, and it will be used during eachposition computation done on the basis of this camera. The timesavingachieved due to the swift adjustment of the newly installed camera onthe stacker crane can be used profitably for loading and unloadingprocesses.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a top plan overview of a container handling yard,

FIG. 2 is a side elevation of an identification zone for detection oftransport vehicles,

FIG. 3 is a top plan section of a container handling yard, containerstorage space and parking position,

FIG. 4 is a side elevation of the area shown in FIG. 3,

FIG. 5 is a side elevation representation of the viewing angle of thecamera placed in the parking position,

FIG. 6 is a view of first user-defined interface,

FIG. 7 is a side elevation representation of the viewing angle of thecamera arranged on the side of the automatic container crane,

FIG. 8 is a side elevation representation of the viewing angle of thecamera arranged on the side of the automatic container crane,

FIG. 9 is a view of a second user-defined interface, during a loadingprocess,

FIG. 10 is a view of a user-defined interface at the end of a loadingprocess,

FIG. 11 is a side elevation another embodiment of an identificationpoint,

FIG. 12 is a top plan view of another section of a container handlingyard, container storage space and parking position,

FIG. 13 is a side elevation of another representation of the viewingangle of the camera arranged in the parking position,

FIG. 14 is a top plan view of representation of the arrangement of areference point.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

FIG. 1 shows an automated container terminal 24 for containers 1, wheretrucks 7 (FIG. 2) are loaded and unloaded at the land side. In anidentification zone 25, arriving and departing trucks 7 are identifiedand/or surveyed. An arriving truck 7 is identified and the data thusgenerated, which are required for the loading and unloading, aretransmitted to the DP (data processing) system (not shown) forlogistical management. After this, the truck 7 moves to the loading orunloading zone 6 by roadways 26.

FIG. 2 shows the cameras 27 arranged in the identification zone 25,which are used to detect the truck 7 from all sides. The license number28 of the truck 7 and possibly the license number 29 of the trailer 7.1are automatically detected by the cameras 27. Likewise, theidentification number 30 of the container 1 will also be detected in thecase of loaded trucks 7. All information regarding the truck 7, thetrailer 7.1, and possibly the container 1 will be transmitted to the DPsystem of the logical management and be available in the system at alltimes and can be called up by an operator (not shown).

In the automatic container storage space 2, as depicted in FIGS. 3 and4, the containers 1 are kept in stacks. The automatic stacker crane 3consists of a mobile trolley 3.2, which can travel on a bridge 3.1,while the bridge 3.1 can travel on the crane track 4. During the loadingprocess, the container 1 is rigidly connected to the moveable mast 3.3of the moveable trolley 3.2. On the mast 3.3 is situated the loadsuspension device 3.4 of the stacker crane 3, which accommodates thecontainer. The automatic stacker crane 3 is coupled to the DP system ofthe logistical management and can thus reach every possible coordinatewithin the travel zone at any time. The coordinate system (not shown)describes a space which is reached by the load suspension device 3.4 ofthe automatic traveling stacker crane 3. In place of an ACS, one canalso use gantry cranes or one-legged gantry cranes.

The automatic container storage space 2 is bounded off from the loadingand unloading zone 6 by a border 5, which can be a fence or a wall. Inthe loading and unloading zone 6, the trucks 7 are each positioned in aparking position 8. FIGS. 3 and 4 show trucks 7 that have been backedinto a parking position 8, which was assigned to them. The parkingpositions 8 have concrete gutters 8.1 at the sides, which facilitate thebacking in of the trucks 7 when parking, since the wheels 9 of the truck7 are guided in this way. The parking process is completed when thetruck 7 backs up and its wheels 9 strike against the cross struts 8.2bounding the parking position 8.

Each parking position 8 is outfitted with a fixed and calibrated camerasystem 10, which is located above the boundary 5 (FIG. 5). The viewingangle 11 of the camera 10 is chosen so that all loading platforms 31 ofthe truck 7 and any containers 1 located thereupon are completelydetected. Thanks to this viewing angle 11 of the camera 10, an operatorat a monitor 12 (FIG. 6) can observe the parking process.

FIG. 6 shows the monitor 12 with the image of the camera 10, by whichthe operator can observe and control the parking process of the truck 7and the loading and unloading process. For the loading of the truck 7 inthe parking position 8, the position of the loading platform 31 of thetruck 7 has to be measured. For this, a marking mechanism such as acrosshair 14 is superimposed on the image of the camera 10, with whichthe operator can select identification points. These identificationpoints are the fasteners of the loading platform 31 of the truck 7, theso-called twist locks 13. The coordinates of the twist locks 13 aretransmitted to the DP system of the logistical management in order tocalculate the position coordinate of the loading platform 31. The DPsystem of the logistical management calculates the diagonals 16 of thetwist locks 13 and their point of intersection 17. The intersection 17describes the vertical position 15 of the loading platform in the systemof coordinates. This computation is made possible by a previouscalibration of the fixed installed camera 10, whose exact position andviewing direction is known.

The container 1 located on the rigid mast 3.3 of the stacker crane 3, asdepicted in FIG. 7, is positioned above the loading platform 31 of thetruck 7 so that the point of intersection of the diagonals of thefastener of the container 1 stands congruently and plumb above the pointof intersection 17 of the diagonals 16 of the fastener of the loadingplatform 31 of the truck 7. Thanks to the cameras 18 arranged on thestacker crane 3 and thanks to the chosen type of positioning of thecontainer 1 being loaded above the loading platform 31, the viewingangle 19 of the camera 18 can be restricted, as depicted in FIG. 8. Dueto the different container sizes of 20 ft., 30 ft., 40 ft. to 45 ft.,two viewing angles 19.1 and 19.2 are required left and right,disregarding the middle zone of the container 1. In terms of thecoordinates of the point of intersection 17 of the diagonals 16 of theloading platform 31, a viewing range of the camera system 42.1 from −7 mto −3 m and a viewing range of the camera system 42.2 from +3 m to +7 mis necessary. Only in these areas are there twist locks 13 of theloading platform 31 adapted to the container 1.

FIG. 9 shows the four-part user-defined interface 20 of the DP system ofthe logistical management. Each quadrant shows one image segment, whichis generated by at least one of the cameras 18 arranged on the side ofthe stacker crane 3. For redundancy reasons and reliabilityconsiderations, the four image segments can be generated from the imageof a camera, or also from two images of two cameras arranged at theside. It is likewise possible to implement a solution that provides onecamera for each image segment. Each image segment shows the fastener,the twist locks 13 of the loading platform 31. The operator canrecognize a wrong position for the twist locks 22 and then use anintercom system to ask the driver of the truck 7 to correct this wrongposition. The computer-calculated contours of the container 23 aresuperimposed on the image, showing the operator the actual position ofthe container 1. The orientation of the container 1 with respect to theloading platform 31 is accomplished by the operator using a markingmechanism, such as a crosshair 24, to once again select the fastener ortwist locks 13 of the loading platform 31. The coordinates of thefastener of the loading platform 31 are once again transmitted to the DPsystem of the logistical management. The actual orientation of theloading platform 31 is calculated from this. Any deviation between theorientation of the container 1 and the orientation of the loadingplatform 31 is determined by the DP system of the logistical managementand the container 1 is rotated on the mast 3.3 by means of the loadsuspension device 3.4 so that all fasteners of the container 1 standcongruently and plumb above the fasteners of the loading platform 31.

During the lowering process, the computer-calculated contour 23 of thecontainer is newly calculated at any time and superimposed on the imagefrozen at the start of the lowering process, as represented in FIG. 10.At the end of the lowering process, the fasteners of the container 1engage with the fasteners of the loading platform 31 of the truck 7. Theoperator watches and controls the loading process on the monitor as thecontainer 1 is set down.

Another method for detecting the identification points of the loadingplatform 31 of a truck 7 or the identification points of a container 1is shown by FIGS. 11 to 13. The known process steps of the previouslydescribed process are rearranged here.

FIG. 11 shows a modified identification zone 25, in which the arrivingtruck 7 including a possibly present container 1 is identified. Theidentification of the truck 7 involves the recognition of the licenseplate 28, 29 of the transport vehicles and the identification number 30of the possibly present container 1 by means of the cameras 27 arrangedat the identification zone 25, which are connected to the DP system ofthe logistical management and transmit the so-generated data to it. Inaddition to the work step described in FIG. 2, the possibly presentcontainer 1 and/or the empty loading platform 31 of the truck 7 are thenmeasured. The truck 7 is detected from the side 32 and from above (topview) 33 by means of the camera 27. The detection of the identificationpoints of the loading platform 31 (or container 1) as described in FIG.6 does not occur in the loading and unloading zone 6, contrary to FIG.6, but rather in the identification zone 25. The course of the detectionof the identification points remains identical. At the same time, thereis an automatic measuring of the height 34, 35 of the fastener beingused by the camera 27. The coordinates found are transmitted to the DPsystem, and these represent the relative target position of thecontainer being unloaded, since they pertain only to the truck 7. Thedriver of the truck 7, after a successful identification and measurementof the truck 7, receives an access authorization in the form of amagnetic card or chip card (not shown). The magnetic card also containsall relevant data concerning the handling order.

The driver drives the truck 7 to a loading and unloading zone 6 assignedto him (FIG. 12) and backs his transport vehicle up into any desiredparking position 8 within the loading and unloading zone 6. During theparking process, as represented in FIG. 13, an object recognition isstarted in the DP system of the logistical management by means of acamera 36 arranged in the parking position 8, which identifies the truck7 and also classifies it geometrically in the system of coordinates, notrepresented. The information from the camera 36 arranged at the border 5allows the DP system of the logistical management to exactly recognizethe truck 7 in terms of its identity and position: its distance 37 fromthe border 5, a left/right offset within the parking position 8 andangle of twist of the truck 7 relative to the ground 38. Thus, aftercompleting the parking process, the exact position of the truck 7 isknown to the DP system of the logistical management.

From these coordinates, and in conjunction with the relative targetposition of the container 1, the DP system of the logistical managementcan determine the position coordinate for the container 1 being loaded,which represents the absolute target coordinate for the container beingloaded.

Next, the driver of the truck 7 goes to a reporting space 39, in orderto signal with the magnetic card his readiness for loading or unloadingof the truck 7. The DP system checks the data on the magnetic cardagainst the data obtained from the parking position 8 of the truck andif they agree it, generates an order for the stacker crane 3. Thestacker crane 3 picks up the container 1 to be loaded from the containerstorage space 2 and begins the loading of the truck 7 in accordance withthe method described as of FIG. 7.

Furthermore, FIG. 12 shows a tolerance range 40. Within each parkingposition 8, the load suspension device 3.4 of the stacker crane 3 canonly travel within this special tolerance range 40, for safety reasons.

FIG. 14 shows a container yard 2 with a reference point 41.

1. Method for load transfer in a container storage space for standardcontainers, with a stacker crane for the containers servicing thecontainer storage space, controllable by a logistical management dataprocessing (DP) system, wherein the stacker crane can travel between astorage place for each container and a loading platform of a transportvehicle of a container that can travel in the area of the containerstorage space, wherein the stacker crane has a load suspension devicefor depositing the container on the loading platform and picking thecontainer up from the loading platform, which can be oriented withrespect to it, the method of loading and unloading the transport vehiclecomprising: a) identifying the transport vehicle and the container beingunloaded and transferring the data generated in this way to thelogistical management DP system, b) providing a calibrated camerasystem, detecting defined identification points on the loading platformof the transport vehicle and on the container with said camera systemand transferring coordinates of the identification points to thelogistical management DP system, c) comparing with the logisticalmanagement DP system the coordinates of the identification pointsagainst the data of the container being loaded as stored in the DPsystem and determining the fastener to be assigned to this container andposition coordinates on the loading platform of the transport vehicle,d) driving the stacker crane under computer control with the containerto be loaded above the loading platform of the transport vehicle, abovethe position coordinate, wherein the position coordinate is defined bythe vertical position of the loading platform and by the point ofintersection of the diagonals of the identification points of theloading platform, wherein the position coordinate describes the targetposition of the container, e) providing a calibrated camera systemarranged on the trolley of the stacker crane, detecting the fastener ofthe loading platform and selectively moving the container so that thefastener of the container is positioned above the coordinated fastenerof the loading platform, f) setting down the container on the loadingplatform of the transport vehicle such that the fastener of thecontainer and the coordinated fastener of the loading platform matetogether at the end of the setdown process, g) determining with thelogistical management DP system, from the identification points, thefastener and position coordinate of the container, h) driving thestacker crane under computer control above the container, above theposition coordinate, while the position coordinate is described by thevertical position of the upper edge of the identification points of thecontainer and by the point of intersection of the diagonals of theidentification points of the container, which describes the absolutetarget position of the load suspension device, i) detecting the fastenerof the loading platform of the container and selectively moving the loadsuspension device so that the fastener of the load suspension device ofthe stacker crane stands above the coordinated fastener of thecontainer, and j) bringing the load suspension means up to the containersuch that the fastener of the load suspension means and the fastener ofthe container mate together.
 2. Method according to claim 1, wherein thetransport vehicle or the container being unloaded is identified by meansof a camera system.
 3. Method according to claim 2, wherein saiddetecting the coordinates of the identification points of the loadingplatform or the identification points of the container comprisesproviding a user-defined interface on a monitor screen of the logisticalmanagement DP system, and selecting by an operator of the identificationpoints of the loading platform or the identification points of thecontainer with a marking mechanism on the user-defined interface. 4.Method according to claim 3, including automatically detecting thecoordinates of the identification points of the loading platform or theidentification points of the container by a computer system andtransferring the coordinates to the logistical management DP system. 5.Method according to claim 4, wherein said automatically detecting of thecoordinates of the loading platform of the transport vehicle occurs inits loading and unloading zone and that of the coordinates of theloading platform of the container occurs in its loading and unloadingzone.
 6. Method according to claim 5, wherein the vertical position ofthe loading platform and the point of intersection of the diagonals ofthe identification points of the loading platform or the verticalposition of the upper edge of the identification points of the containerand the point of intersection of the diagonals of the identificationpoints of the container describe the relative target position of thecontainer.
 7. Method according to claim 6, wherein the positioncoordinate is described by the absolute target position of the containeror of the load suspension device, which is composed of the coordinatesof the transport vehicle located in the parking position as detected bymeans of a camera and the relative target position of the container orof the load suspension device.
 8. Method according to claim 7, includingmoving the stacker crane into reach of the loading platform or of thecontainer in such a way that the point of intersection of the diagonalsof the fastener of the container or the load suspension device standsplumb above the point of intersection of the diagonals of the fastenerof the loading platform or the container.
 9. Method according to claim8, including providing a second user-defined interface, said second userdefined interface having four quadrants, each representing a pair offasteners, and each pair consists of one fastener of the loadingplatform or of the container, projected by an image of the camerasystem, and of the coordinated fastener of the container or the loadsuspension device, projected by a superimposing of a computer-calculatedcontour of the container or of the load suspension means and of thefastener of the container or of the load suspension means onto theimage.
 10. Method according to claim 9, including determining anydeviation in position of the container being loaded from the position ofthe loading platform or the position of the load suspension device fromthe position of the container being unloaded in the logisticalmanagement DP system for a fine-tuned positioning, by providing thesecond user-defined interface of logistical management with a secondmarking mechanism, wherein the operator selects at least oneidentification point of the loading platform or of the container withsaid second marking mechanism.
 11. Method according to claim 10,including providing a fine positioning computer system and automaticallyrecognizing any deviation in position of the container being loaded fromthe position of the loading platform or in the position of the loadsuspension device from the position of the container being unloaded withsaid fine positioning computer system.
 12. Method according to claim 11,wherein a deviation in position of the container being loaded from theposition of the loading platform of the container or in the position ofthe load suspension device from the container being unloaded, the loadsuspension device is rotated so that the fastener of the containerstands plumb above the fastener of the loading platform, or the fastenerof the load suspension device stands plumb above the fastener of thecontainer.
 13. Method according to claim 12, including setting down andreleasing of the container from the load suspension device or thesetting down of the load suspension device of the stacker crane onto thecontainer by the operator until the fasteners mate with each other. 14.Method according to claim 13, including adjusting the position of astacker crane in a container storage space, said adjusting the positioncomprising providing a camera system having at least one calibratedcamera fastened on the trolley of the stacker crane for detection of theposition of containers being handled, with an absolute length measuringsystem to detect the position of the stacker crane, positioning thestacker crane travels above a reference point arranged at any givenposition within the container yard, so that said at least one calibratedcamera of the camera system detects the reference point, and comparingthe position of the reference point with the memorized position of thereference point with the logical management DP system and determining anoffset when a deviation exists.
 15. Method according to claim 14,characterized in that the container yard has several reference points,which can be detected by the cameras of the stacker crane.
 16. Methodaccording to claim 15 for adjusting the position of the at least onecalibrated camera, which is arranged on the stacker crane includingdefining an absolute length measuring system for detecting the positionof the stacker crane, characterized in that the container yard has asuper-reference point and said at least one calibrated camera isarranged on the stacker crane that can be adjusted relative to it bymeans of the super-reference point.
 17. Method according to claim 1,wherein said detecting the coordinates of the identification points ofthe loading platform or the identification points of the containercomprises providing a user-defined interface on a monitor screen of thelogistical management DP system, and selecting by an operator of theidentification points of the loading platform or the identificationpoints of the container with a marking mechanism on the user-definedinterface.
 18. Method according to claim 1, including automaticallydetecting the coordinates of the identification points of the loadingplatform or the identification points of the container by a computersystem and transferring the coordinates to the logistical management DPsystem.
 19. Method according to claim 1, wherein said automaticallydetecting of the coordinates of the loading platform of the transportvehicle occurs in its loading and unloading zone and that of thecoordinates of the loading platform of the container occurs in itsloading and unloading zone.
 20. Method according to claim 1, wherein thevertical position of the loading platform and the point of intersectionof the diagonals of the identification points of the loading platform orthe vertical position of the upper edge of the identification points ofthe container and the point of intersection of the diagonals of theidentification points of the container describe the relative targetposition of the container.
 21. Method according to claim 1, wherein theposition coordinate is described by the absolute target position of thecontainer or of the load suspension device, which is composed of thecoordinates of the transport vehicle located in the parking position asdetected by means of a camera and the relative target position of thecontainer or of the load suspension device.
 22. Method according toclaim 1, including moving the stacker crane into reach of the loadingplatform or of the container in such a way that the point ofintersection of the diagonals of the fastener of the container or theload suspension device stands plumb above the point of intersection ofthe diagonals of the fastener of the loading platform or the container.23. Method according to claim 1, including providing a seconduser-defined interface, said second user defined interface having fourquadrants, each representing a pair of fasteners, and each pair consistsof one fastener of the loading platform or of the container, projectedby an image of the camera system, and of the coordinated fastener of thecontainer or the load suspension device, projected by a superimposing ofa computer-calculated contour of the container or of the load suspensionmeans and of the fastener of the container or of the load suspensionmeans onto the image.
 24. Method according to claim 1, includingdetermining any deviation in position of the container being loaded fromthe position of the loading platform or the position of the loadsuspension device from the position of the container being unloaded inthe logistical management DP system for a fine-tuned positioning, byproviding the second user-defined interface of logistical managementwith a second marking mechanism, wherein the operator selects at leastone identification point of the loading platform or of the containerwith said second marking mechanism.
 25. Method according to claim 1,including providing a fine positioning computer system and automaticallyrecognizing any deviation in position of the container being loaded fromthe position of the loading platform or in the position of the loadsuspension device from the position of the container being unloaded withsaid fine positioning computer system.
 26. Method according to claim 1,wherein a deviation in position of the container being loaded from theposition of the loading platform of the container or in the position ofthe load suspension device from the container being unloaded, the loadsuspension device is rotated so that the fastener of the containerstands plumb above the fastener of the loading platform, or the fastenerof the load suspension device stands plumb above the fastener of thecontainer.
 27. Method according to claim 1, including setting down andreleasing of the container from the load suspension device or thesetting down of the load suspension device of the stacker crane onto thecontainer by the operator until the fasteners mate with each other. 28.Method according to claim 1, including adjusting the position of astacker crane in a container storage space, said adjusting the positioncomprising providing a camera system having at least one calibratedcamera fastened on the trolley of the stacker crane for detection of theposition of containers being handled, with an absolute length measuringsystem to detect the position of the stacker crane, positioning thestacker crane travels above a reference point arranged at any givenposition within the container yard, so that said at least one calibratedcamera of the camera system detects the reference point, and comparingthe position of the reference point with the memorized position of thereference point with the logical management DP system and determining anoffset when a deviation exists.
 29. Method according to claim 28,characterized in that the container yard has several reference points,which can be detected by the cameras of the stacker crane.
 30. Methodaccording to claim 1 for adjusting the position of the at least onecalibrated camera, which is arranged on the stacker crane includingdefining an absolute length measuring system for detecting the positionof the stacker crane, characterized in that the container yard has asuper-reference point and said at least one calibrated camera isarranged on the stacker crane that can be adjusted relative to it bymeans of the super-reference point.
 31. The method of claim 1, whereinthe method of loading the transport vehicle comprises: a) identifyingthe transport vehicle and transferring the data generated in this way tothe logistical management DP system, b) providing a calibrated camerasystem, detecting defined identification points on the loading platformof the transport vehicle with said camera system and transferringcoordinates of the identification points to the logistical management DPsystem, c) comparing with the logistical management DP system thecoordinates of the identification points against the data of thecontainer being loaded as stored in the DP system and determining thefastener to be assigned to this container and position coordinates onthe loading platform of the transport vehicle, d) driving the stackercrane under computer control with the container to be loaded above theloading platform of the transport vehicle, above the positioncoordinate, wherein the position coordinate is defined by the verticalposition of the loading platform and by the point of intersection of thediagonals of the identification points of the loading platform, whereinthe position coordinate describes the target position of the container,e) providing a calibrated camera system arranged on the trolley of thestacker crane, detecting the fastener of the loading platform andselectively moving the container so that the fastener of the containeris positioned above the coordinated fastener of the loading platform, f)setting down the container on the loading platform of the transportvehicle such that the fastener of the container and the coordinatedfastener of the loading platform mate together at the end of the setdownprocess.